Implement control system for electrical actuator of steerable track assembly pivotable about three axes

ABSTRACT

A work vehicle includes left and right track assemblies, each track assembly having a main frame, a pivot member, a pivot shaft coupled to the pivot member, and an electrical actuator coupled between the pivot shaft and the main frame. The work vehicle also includes a control system having a controller communicatively coupled to each electrical actuator of the track assemblies. The controller includes processors that control the electrical actuator to steer the work vehicle about a generally vertical steering axis. Each pivot member is mounted to the main frame of the track assemblies. Each track assembly is pivotal about a generally horizontal pitch axis of the pivot shaft to permit pitch movement of the track assembly. Each track assembly is pivotal about a generally horizontal camber axis through a portion of the pivot member to permit camber movement of the track assembly.

BACKGROUND

The present disclosure relates generally to work vehicles, such asagricultural implements. In particular, the present disclosure relatesto a control system for a work vehicle with a steerable track assemblywith electrical actuators that is configured to pivot about three axes.

Increasing the effectiveness or speed of cultivating soil and harvestingcrops may ultimately increase productivity of farmland. For example,starting work operations on a field before conditions are ideal (e.g.,on uneven terrain due to soft soil) may lead to increased productivity.As a result, it may be desirable to increase maneuverability of the workvehicle and/or enable the work vehicle to operate on uneven terrain.Additionally, farm operations may increase in size in order to realizelarger crop yields, resulting in larger travel distances (both due tolarger crops and distances between work sites). Faster and more reliablework vehicles may thus increase productivity. To better address thedesire for increased productivity, work vehicles of increased size mayalso be used. However, using work vehicles of increased size, and thusincreased weight, may adversely affect productivity by disturbingplanted fields or compacting soil.

BRIEF DESCRIPTION

Certain embodiments commensurate in scope with the present disclosureare summarized below. These embodiments are not intended to limit thescope of the disclosure, but rather these embodiments are intended onlyto provide a brief summary of possible forms of the disclosure. Indeed,the disclosure may encompass a variety of forms that may be similar toor different from the embodiments set forth below.

In a first embodiment, a work vehicle includes left and right trackassemblies, each track assembly having a respective main frame, arespective pivot member, a respective pivot shaft coupled to therespective pivot member, and a respective electrical actuator coupledbetween the respective pivot shaft and the respective main frame. Thework vehicle also includes a control system having a controllercommunicatively coupled to each respective electrical actuator of theleft and right track assemblies. The controller includes processors thatcontrol the respective electrical actuator to steer the work vehicleabout a generally vertical steering axis. Each respective pivot memberis mounted to the respective main frame of the left and right trackassemblies. Each track assembly of the left and right track assembliesis pivotal about a generally horizontal pitch axis of the respectivepivot shaft to permit pitch movement of the track assembly. Each trackassembly is also pivotal about a generally horizontal camber axisthrough a portion of the respective pivot member to permit cambermovement of the track assembly.

In a second embodiment, a control system of a work vehicle includes acontroller communicatively coupled to each respective electricalactuator of left and right track assemblies of the work vehicle. Thecontroller includes processors that control the respective electricalactuator. The respective electrical actuator drives a respective rod ofthe respective electrical actuator to steer the work vehicle about agenerally vertical steering axis. The work vehicle includes the left andright track assemblies, each track assembly of the left and right trackassemblies having a respective main frame, a respective pivot member, arespective pivot shaft coupled to the respective pivot member, and therespective electrical actuator coupled between the respective pivotshaft and the respective main frame. The respective pivot member ismounted to the respective main frame. Each track assembly is pivotalabout a generally horizontal pitch axis of the respective pivot shaft topermit pitch movement of the track assembly. Each track assembly is alsopivotal about a generally horizontal camber axis through a portion ofthe respective pivot member to permit camber movement of the trackassembly.

In a third embodiment, a controller is coupled to each respectiveelectrical actuator of left and right track assemblies of a work vehiclethat are each pivotal about a respective horizontal pitch axis of arespective pivot shaft to permit pitch movement and pivotal about arespective horizontal camber axis through a portion of a respectivepivot member to permit camber movement. The controller includesprocessors that control a respective motor of the respective electricalactuator coupled between the respective pivot shaft and a respectivemain frame of the left and right track assemblies to steer the workvehicle about a generally vertical steering axis by drive a respectiverod of the respective electrical actuator.

DRAWINGS

These and other features, aspects, and advantages of the presentinvention will become better understood when the following detaileddescription is read with reference to the accompanying drawings in whichlike characters represent like parts throughout the drawings, wherein:

FIG. 1 is a diagram of a work vehicle with a steerable track assembly,in accordance with an embodiment of the present disclosure;

FIG. 2 is a diagram of a main weight carrying structure of the workvehicle that includes the track assembly, in accordance with anembodiment of the present disclosure;

FIG. 3A is a diagram of the track assembly viewed from a firstperspective, in accordance with an embodiment of the present disclosure;

FIG. 3B is a diagram of the track assembly viewed from a secondperspective, in accordance with an embodiment of the present disclosure;

FIG. 4A is a diagram of the track assembly from FIG. 3A, with the trackand wheels removed, in accordance with an embodiment of the presentdisclosure;

FIG. 4B is a diagram of the track assembly from FIG. 3B, with the trackand wheels removed, in accordance with an embodiment of the presentdisclosure;

FIG. 5A is an exploded view of the track assembly from FIG. 4A, inaccordance with an embodiment of the present disclosure;

FIG. 5B is an exploded view of the track assembly from FIG. 4B, inaccordance with an embodiment of the present disclosure;

FIG. 6A is a diagram of steering components of the track assembly fromFIG. 2, in accordance with an embodiment of the present disclosure;

FIG. 6B is a diagram of steering components of the track assembly fromFIG. 2, in accordance with an embodiment of the present disclosure;

FIG. 6C is an exploded view of steering components of the track assemblyfrom FIG. 2, in accordance with an embodiment of the present disclosure;

FIG. 7A is a diagram of the main weight carrying structure of the workvehicle from FIG. 2, showing a track assembly at an inward camber angle,in accordance with an embodiment of the present disclosure;

FIG. 7B is a cross-sectional view of the main weight carrying structureof the work vehicle from FIG. 7A, showing the track assembly at aninward camber angle, in accordance with an embodiment of the presentdisclosure;

FIG. 7C is a diagram of the main weight carrying structure of the workvehicle from FIG. 2, showing the track assembly at an outward camberangle, in accordance with an embodiment of the present disclosure;

FIG. 7D is a cross-sectional view of the main weight carrying structureof the work vehicle from FIG. 7C, showing the track assembly at anoutward camber angle, in accordance with an embodiment of the presentdisclosure;

FIG. 8A is a bird's-eye view of the main weight carrying structure ofthe work vehicle from FIG. 2, showing the track assembly configured toturn right, in accordance with an embodiment of the present disclosure;

FIG. 8B is a bird's-eye view of the main weight carrying structure ofthe work vehicle from FIG. 2, showing the track assembly configured toturn left, in accordance with an embodiment of the present disclosure;

FIG. 9A is a diagram of the main weight carrying structure of the workvehicle from FIG. 2, showing a left view of a track assembly tilteddownward, in accordance with an embodiment of the present disclosure;

FIG. 9B is a diagram of the main weight carrying structure of the workvehicle from FIG. 2, showing a left view of a track assembly tiltedupward, in accordance with an embodiment of the present disclosure; and

FIG. 10 is a block diagram of a control system of the track assemblyconfigured to operate electrical actuators of the track assembly, inaccordance with an embodiment of the present disclosure.

DETAILED DESCRIPTION

One or more specific embodiments of the present disclosure will bedescribed below. In an effort to provide a concise description of theseembodiments, all features of an actual implementation may not bedescribed in the specification. It should be appreciated that in thedevelopment of any such actual implementation, as in any engineering ordesign project, numerous implementation-specific decisions must be madeto achieve the developers' specific goals, such as compliance withsystem-related and business-related constraints, which may vary from oneimplementation to another. Moreover, it should be appreciated that sucha development effort might be complex and time consuming, but wouldnevertheless be a routine undertaking of design, fabrication, andmanufacture for those of ordinary skill having the benefit of thisdisclosure.

When introducing elements of various embodiments of the presentdisclosure, the articles “a,” “an,” “the,” and “said” are intended tomean that there are one or more of the elements. The terms “comprising,”“including,” and “having” are intended to be inclusive and mean thatthere may be additional elements other than the listed elements. Anyexamples of operating parameters and/or environmental conditions are notexclusive of other parameters/conditions of the disclosed embodiments.

The present disclosure relates generally to work vehicles, such asagricultural implements. It may be desirable to increase footprint ofthe work vehicles such that the effect on soil of the work vehicleswhile traveling on a field is reduced. Accordingly, systems and methodsare disclosed in which a work vehicle includes a steerable trackassembly that pivots about a generally vertical steering axis, agenerally horizontal pitch axis, and a generally horizontal camber axis.The track assembly may increase maneuverability of the work vehicleand/or enable the work vehicle to operate on uneven terrain.Additionally, use of the track assembly may realize a faster and morereliable work vehicle, resulting in increased productivity.Advantageously, the ability of the track assembly to pivot about thethree axes enables the track assembly to apply increased surface area ofa track of the track assembly to the terrain. As a result, loaddistribution of the work vehicle upon the terrain may be increased. Assuch, disturbing planted soil and compacting the soil when travelingupon the terrain may be reduced. Furthermore, increasing the surfacecontact of the work vehicle with the terrain may also reduce heatgeneration in the track and thus increase the lifespan of the track. Inparticular, one embodiment of the present disclosure includes the workvehicle having left and right track assemblies, each track assemblyincluding a main frame, a pivot member, a pivot shaft coupled to thepivot member, and an actuator coupled between the pivot shaft and themain frame. Additionally, each track assembly is pivotal about agenerally horizontal pitch axis of the respective pivot shaft to permitpitch movement of the respective track assembly. Each track assembly isalso pivotal about a generally horizontal camber axis through a portionof the respective pivot member to permit camber movement of therespective track assembly.

FIG. 1 is a diagram of a work vehicle or agricultural implement 10 witha steerable track assembly 12, in accordance with an embodiment of thepresent disclosure. The agricultural implement 10 may be any suitabletype of agricultural implement, such as a cultivator, planter,fertilizer applicator, harvester, etc. The agricultural implement 10includes a frame 14 to which components of the agricultural implement 10may be attached, such as the track assembly 12. For example, storagetanks 16 that may contain agricultural product, such as seeds,fertilizer, etc., may be attached to the frame 14. Row units 18 that maybe used to cultivate soil, plant seeds, fertilize a field, spread theagricultural product, etc., may also be attached to the frame 14. Theframe 14 may be configured to enable the agricultural implement 10 to betowed by an agricultural vehicle, such as a tractor or floater. Thetrack assembly 12 includes a track or track belt 20 that enable theagricultural implement 10 to travel on a variety of terrains. It shouldbe noted that although the vehicle shown and described here is notdriven (that is, in most cases will be towed), nothing in the disclosureshould be understood as limiting the technology described to suchvehicles, but these same or similar techniques may be employed fordriven or driving vehicles. Similarly, although an agriculturalimplement is shown and described, the present disclosure is not limitedto agricultural settings, but may be used on other vehicles, such asconstruction vehicles, military vehicles, and so forth.

FIG. 2 is a diagram of a main weight carrying structure 30 of theagricultural implement 10 that includes the track assembly 12, inaccordance with an embodiment of the present disclosure. As illustrated,the frame 14 is attached to left and right track assemblies 12. Tubularmember 32 may be fixed to (e.g., welded to) the frame 14 of theagricultural implement 10 and may couple to a respective track assembly12. As illustrated, actuators or steering cylinders 34 are configured toextend and retract to pivotally steer the respective track assembly 12about a generally vertical axis (e.g., about a generally verticalsteering axis).

FIG. 3A is a diagram of the track assembly 12 viewed from a firstperspective 40, in accordance with an embodiment of the presentdisclosure. In particular, the first perspective 40 may be from betweenleft and right track assemblies of FIG. 2 such that an inner side of thetrack assembly 12 is viewed. As illustrated, the track assembly 12includes front and rear idler wheels 42 and two intermediate rollerwheels 44. In some embodiments, the track assembly 12 may include anynumber of roller wheels 44, such as one, three, four, or no rollerwheels 44. The track assembly 12 also includes a pivot shaft 46 thatenables the track assembly 12 to pivot in several directions asdiscussed below.

FIG. 3B is a diagram of the track assembly 12 viewed from a secondperspective 50, in accordance with an embodiment of the presentdisclosure. In particular, the second perspective 50 may be from a sideof the agricultural implement such that an outer side of the trackassembly 12 is viewed.

FIG. 4A is a diagram of the track assembly 12 from FIG. 3A, with thetrack 20 and wheels removed, viewed from a first perspective 60, inaccordance with an embodiment of the present disclosure. In particular,the first perspective 60 may be from between left and right trackassemblies 12 of FIG. 2 such that an inner side of the track assembly isviewed.

FIG. 4B is a diagram of the track assembly 12 from FIG. 3B, with thetrack 20 and wheels removed, viewed from a second perspective 70, inaccordance with an embodiment of the present disclosure. In particular,the second perspective 70 may be from a side of the agriculturalimplement such that an outer side of the track assembly 12 is viewed.

FIG. 5A is an exploded view 80 of the track assembly 12 from FIG. 4A, inaccordance with an embodiment of the present disclosure. As illustrated,the track assembly 12 includes a main frame or casting 82 that isconfigured to enable steering of the track assembly 12 via the pivotshaft 46 and the actuator. In particular, the actuator may couple to themain frame 82 at a steering mount 84 and a cap end of the actuator maycouple to a tang 85 of an actuator or steer cylinder anchor 87. Theactuator may thus be pivotal with the pivot shaft 46. The pivot member46 is mounted to a respective main frame 82 to permit pivotal steeringmovement about a generally vertical steering axis for steering eachtrack assembly 12 under the influence of the actuator. The tang 85 mayact as a retention device in relation to the actuator while the actuatoranchor 87 serves as a mounting anchor for both the pivot shaft 46 andthe actuator. In some embodiments, the respective main frame 82 of eachtrack assembly 12 of the agricultural implement includes generallysymmetrically placed securement locations for each respective actuatorto permit use of the same main frame 82 on either the left or the righttrack assembly. For example, as illustrated, the main frame 82 includestwo steering mounts 84. When mounted, the inside steering mount 84 maybe used to couple to the actuator while the outside steering mount 84remains unused. As such, the main frames 82 for the left and right trackassemblies (as seen in FIG. 2, for example) may be identical. In thismanner, manufacturing and production of the main frames 82 may besimplified and made more efficient by eliminating reconfiguration ofmanufacturing and production facilities in order to make two differentmain frames. Thus, in some embodiments, the left and right trackassemblies 12 are mirror images of one another. That is, the main frame82, a pivot member 94, the pivot shaft 46, the actuator, actuator anchor87, or any combination thereof, are identical in both the left and righttrack assemblies.

As illustrated, the main frame 82 is coupled to first and secondcastings configured to couple to the idler wheels 42. In particular, themain frame 82 may be coupled to a front idler tensioning casting 86 thatis configured to couple to a front idler wheel 42. The main frame 82 mayalso be coupled to a rear idler belt tracking casting 88 that isconfigured to couple to a rear idler wheel 42. Any suitable fastener 90and suitable number of fasteners 90 may be used to couple the frontidler tensioning casting 86 and the rear idler belt tracking casting 88to the main frame 82. The fasteners 90 may also include any bushings orbearings that enable generally pivotal movement. For example, thefasteners 90 may include bushings, bearings, washers, retention caps,cover plates, bolts, nuts, screws, retaining caps, etc. The main frame82 may also be coupled to axles 91, configured for mounting the idlerwheels 42 or roller wheels 44.

As illustrated, the main frame 82 is also coupled to a top support plateor track guide 92. In particular, the main frame 82 may be coupled tothe track guide 92 that may be configured to support the main frame 82and guide the track. As illustrated, the track guide 92 may couple tothe front idler tensioning casting 86 to support operation of the frontidler wheel 42. The track guide 92 may couple to the main frame 82 viaone or more fasteners 90. The track guide 92 may be disposed over therespective pivot member or casting 94 and, in operation, at leastpartially support the continuous track 20 of the respective trackassembly 12.

Each pivot member 94 may be pivotally received in a recess of therespective main frame 82. In some embodiments, the track guide 92 may beconfigured to maintain the coupling of the pivot member 94 and the mainframe 82. As illustrated, the pivot member 94 is coupled to the mainframe 82 via sleeve bearings 93 and fasteners 90. The sleeve bearings 93enable the pivot member 94 to pivot about a generally vertical steeringaxis (e.g., yaw) 95 when coupled to the main frame 82. Additionally, thepivot member 94 is configured to couple to the pivot shaft 46 via ahorizontal oscillation pin 97. As illustrated, the pivot member 94 isconfigured to couple to an outer end 98 of the pivot shaft 46 via thehorizontal oscillation pin 97, such that there is space between thepivot shaft 46 and the pivot member 94 (at least above and below thepivot shaft 46). In this manner, the pivot shaft 46 is configured topivot about a generally horizontal camber axis 99 when coupled to thepivot member 94 via the horizontal oscillation pin 97. As such, eachrespective track assembly 12 and each respective main frame 82 of eachrespective track assembly 12 may be pivotal about the generallyhorizontal camber axis (e.g., roll) through a portion of the respectivepivot member 94 to permit camber movement of the respective trackassembly 12. In some embodiments, the pivot member 94 may be configuredto guide the pivoting motion of the pivot shaft 46. For example, thepivot member 94 may include extended top and/or bottom portions 96 thatrestrict the pivot roll rotation through axis 99 from pivoting beyond amaximum pivoting angle (e.g., one to 90 degrees, two to 45 degrees,three to 30 degrees, etc.) via contact limitation with wear sleeve 101fastened to the pivot shaft 46. In this manner, the pivot member 94 mayprotect and increase the lifetime of the components of the trackassembly 12 by reducing and/or eliminating undesirable contact with theframe of the agricultural implement while the track assembly 12 ispivoting and in operation.

The pivot shaft 46 may be configured to be received in the tubularmember of the frame of the agricultural implement 10. The pivot shaft 46may support the respective actuator mounting on a side of the tubularmember opposite the respective pivot member 94. As illustrated, an innerend 100 of the pivot shaft 46 is configured to couple to the actuatoranchor 87 via one or more fasteners 90. The actuator anchor 87 may beconfigured to maintain the pivot shaft 46 in the tubular member. In thismanner, the pivot shaft 46 is configured to pivot about a generallyhorizontal pitch axis 102 when received in the tubular member of theframe 14 (and anchored by the actuator anchor 87). As such, therespective track assembly 12 may be pivotal about the generallyhorizontal pitch axis 102 of the respective pivot shaft 46 to permitpitch movement of the respective track assembly 12. FIG. 5B is a diagramof an exploded view 110 of the track assembly 12 from FIG. 4B, inaccordance with an embodiment of the present disclosure.

FIG. 6A is a diagram of steering components 120 of the track assemblyfrom FIG. 2, in accordance with an embodiment of the present disclosure.As illustrated, the track assembly is configured to enable steering ofthe agricultural implement about the generally vertical steering axis 95via the pivot member 94 and the actuator 34. The pivot shaft 46 isconfigured to be received in the tubular member 32 of the frame 14 ofthe agricultural implement. The tubular member 32 may be welded to theframe 14, such that the tubular member 32 remains fixed in relation tothe frame 14 as the track assembly is pivoted about the generallyvertical steering axis 95 to provide steering of the agriculturalimplement. The outer end 98 of the pivot shaft 46 may be coupled to thepivot member 94 via the horizontal oscillation pin, as shown in moredetail in FIG. 5B, and enable the pivot shaft 46 to pivot about agenerally horizontal camber axis. The inner end 100 of the pivot shaft46 may be coupled to the actuator anchor 87 via one or more fasteners,such that the pivot shaft 46 is maintained in the tubular member 32. Asillustrated, the tubular member 32 is configured to enable the pivotshaft 46 to rotate about a generally horizontal pitch axis 102 freely.

The actuator 34 may be configured to drive (e.g., extend and retract,rotate, translate, and the like) a rod 123 to steer the respective trackassembly 12 about the generally vertical steering axis 95 to enablesteering of the agricultural implement. In particular, first end of therod 123 may be coupled to a motor of the actuator 34. A second end 124of the rod 123 (e.g., a rod end 124 of the actuator 34) may couple tothe main frame 82 at a steering mount 84 via one or more fasteners and acap end 126 of the actuator 34 may couple to the tang 85 of the actuatoranchor 87 via one or more fasteners. In some embodiments, the actuators34 of each track assembly are identical hydraulic cylinders, wherein therod end 124 of each hydraulic cylinder is secured to the respective mainframe 82, and a cap end 126 of each hydraulic cylinder is secured to therespective actuator anchor 87. As such, the pivot member 94, mounted tothe main frame 82, may permit pivotal steering movement about thegenerally vertical steering axis 95 for steering the respective trackassembly 12 under the influence of the actuator 34. In some embodiments,the actuators are electrical actuators, such as electrical linearactuators, electrical rotary actuators, and the like.

FIG. 6B is a diagram of the actuator anchor 87 mounted on the inner end100 of the pivot shaft 46 of the track assembly from FIG. 2, inaccordance with an embodiment of the present disclosure. As illustrated,one or more fasteners 90 (e.g., M16 cap screws, thrust washers,retaining caps) are used to mount the actuator anchor 87 on the innerend 100 of the pivot shaft 46. As illustrated, the actuator anchor 87 issplit, fitted around the respective pivot shaft 46, and secured to thepivot shaft 46 by the one or more fasteners 90 that at least partiallyclose the split. The actuator anchor 87 includes a self-aligning bearingor bushing arrangement 130 disposed in the tang 85 configured to mountthe cap end of the actuator. The self-aligning bearing arrangement 130may include spherical bushings and/or bearings that enable one or morepins (e.g., actuator retention pins), bolts, rods, etc. to rotate to anangle corresponding to the track assembly. As illustrated, theself-aligning bearing arrangement 130 includes a bushing fitted into anaperture on the cap end of the respective actuator. As such, theself-aligning bearing 130 mounts the respective actuator to move about agenerally vertical axis 132 for exertion of the steering forces, andpermits a degree of angular displacement of the generally vertical axis132. In this manner, the actuator anchor 87 may support pivotal movementof the pivot shaft 46 about the generally horizontal camber axis. Theself-aligning bearing 130 may permit transmission of steering forceswhile enabling pivotal movement of the respective track assembly. Thus,mounting the rod end of the respective actuator to the main frame andthe cap end of the respective actuator to the actuator anchor 87 via theself-aligning bearing 130 enables the respective track assembly to pivotabout the generally vertical steering axis, the generally horizontalpitch axis, and the generally horizontal camber axis, and enablesmaintaining a steering angle throughout the oscillation range of motionof the track assembly. As a result, the use of complex linkages in trackassemblies of agricultural implements may be reduced or eliminated.Advantageously, manufacturing and production costs may be reduced andthe number of moving parts of the agricultural implement may be reduced,resulting in increased reliability.

FIG. 6C is an exploded view 140 of a coupling of the actuator anchor 87and the actuator 34 of the track assembly from FIG. 2, in accordancewith an embodiment of the present disclosure. As better shown, theself-aligning bearing 130 couples the cap end 126 of the actuator 34 tothe tang 85 of the actuator anchor 87 via one or more fasteners 90. Asillustrated, the self-aligning bearing 130 is configured to enable theactuator 34 to pivot about the generally vertical axis 132, but also topermit a degree of angular displacement of the generally vertical axis132.

FIG. 7A is a diagram of the main weight carrying structure 150 of theagricultural implement from FIG. 2, showing a left track assembly 12 atan inward camber angle 152, in accordance with an embodiment of thepresent disclosure. The left track assembly 12 is cambered at the inwardcamber angle 152 in relation to the generally horizontal camber axis 99,enabled by the pivot shaft coupling to the pivot member via thehorizontal oscillation pin.

FIG. 7B is a cross-sectional view of the main weight carrying structure160 of the agricultural implement from FIG. 7A, showing the trackassembly 12 at the inward camber angle 152, in accordance with anembodiment of the present disclosure. As discussed earlier, the pivotshaft 46 of the track assembly 12 is disposed in the tubular member 32of the frame 14 of the agricultural implement. The tubular member 32remains fixed in relation to the frame 14 as the pivot shaft 46 pivotswithin the tubular member 32 about the generally horizontal pitch axis102. The inner end 100 of the pivot shaft 46 may be coupled to theactuator anchor 87 via one or more fasteners 90, such that the pivotshaft 46 is maintained in the tubular member 32. The outer end 98 of thepivot shaft 46 may be coupled to the pivot member 94 via the horizontaloscillation pin 97 and enable the track assembly 12 to pivot about thegenerally horizontal camber axis 99 via pivot member 94. As shown, thepivot member 94 includes extended top and/or bottom portions 96 thatrestrict the pivot member 94 from pivoting beyond a maximum pivotingangle. In practice, the track assembly 12 may be urged into the inwardcamber angle 152 due to uneven terrain of a field traveled on by theagricultural implement 10.

FIG. 7C is a diagram of the main weight carrying structure 170 of theagricultural implement 10 from FIG. 2, showing the left track assembly12 at an outward camber angle 172, in accordance with an embodiment ofthe present disclosure. The right track assembly 12 is cambered at theoutward camber angle 172 about the generally horizontal camber axis 99,enabled by the pivot shaft coupling to the pivot member via thehorizontal oscillation pin 97.

FIG. 7D is a cross-sectional view of the main weight carrying structure180 of the agricultural implement from FIG. 7C, showing the trackassembly 12 at the outward camber angle 172, in accordance with anembodiment of the present disclosure. In practice, the track assembly 12may be urged into the outward camber angle 172 due to uneven terrain ofa field traveled on by the agricultural implement. As illustrated, theleft and right track assemblies 12 may be configured to be independentlypositioned at different camber angles.

Advantageously, the ability of the track assembly 12 to pivot about thegenerally horizontal camber axis 99 may enable the track assembly 12 toincrease or maximize surface area contact of the track 20 to theterrain. As a result, load distribution of the agricultural implement onthe terrain may be increased. As such, disturbing planted soil may beavoided and compacting the soil when traveling may be reduced. Increasedsurface contact with the terrain may also reduce heat generation andthus increase the lifespan of the track. In some embodiments, the wheelsof the track assembly 12 are not powered in operation. In alternativeembodiments, a motor may be used in conjunction with the trackassemblies 12. Increasing surface contact with the terrain may realizefaster vehicle speeds.

FIG. 8A is a bird's-eye view of the main weight carrying structure on190 of the agricultural implement 10 from FIG. 2, showing the trackassemblies 12 configured to turn right at a steering angle 191, inaccordance with an embodiment of the present disclosure. The left andright track assemblies 12 are angled such that the agriculturalimplement 10 turns right at the steering angle 191 when moving in aforward direction 192. In particular, a left actuator 194 may be in acontracted configuration while a right actuator 196 may be in anextended configuration, enabling the agricultural implement to turnright at the steering angle 191. The ability of the left and right trackassemblies 12 to turn is enabled by the coupling of the respective pivotmembers to the main frames of the respective track assemblies 12. Assuch, the left and right track assemblies 12 are enabled to pivot aboutthe generally vertical steering axis 95. The left and right trackassemblies 12 may be configured to work in conjunction with one anotherwhen turning. For example, when an operator desires for the agriculturalimplement to make a ten degree right turn, the left and right trackassemblies 12 may be configured to each make a right turn at tendegrees.

FIG. 8B is a bird's-eye view of the main weight carrying structure 200of the agricultural implement 10 from FIG. 2, showing the track assembly12 configured to turn left at a steering angle 202, in accordance withan embodiment of the present disclosure. The left and right trackassemblies 12 are angled such that the agricultural implement turns leftat the steering angle 202 when moving in the forward direction 192. Inparticular, the left actuator 194 may be in an extended configurationwhile the right actuator 196 may be in a contracted configuration,enabling the agricultural implement to turn left at the steering angle202. The entire range of the left and right track assemblies 12 to turnleft and right may be dependent on at least one of the specifications ofthe actuators 194, 196, the frame of the agricultural implement, themain frames of the track assemblies 12, etc.

FIG. 9A is a diagram of the main weight carrying structure 210 of theagricultural implement 10 from FIG. 2, showing a left view of a trackassembly 12 tilted at a downward pitch angle 212, in accordance with anembodiment of the present disclosure. The ability of the track assembly12 to tilt at the downward pitch angle 212 is enabled by the pivot shaftdisposed within the tubular member of the frame 14 of the agriculturalimplement, wherein the outer end of the pivot shaft is coupled to thepivot member 94 and the inner end of the pivot shaft is coupled to theactuator anchor. As such, the assembly 12 is enabled to pivot about thegenerally horizontal pitch axis 102. In practice, the track assembly 12may be urged into the downward pitch angle 212 position due to uneventerrain of a field traveled on by the agricultural implement.

FIG. 9B is a diagram of the main weight carrying structure 220 of theagricultural implement 10 from FIG. 2, showing a left view of a trackassembly 12 tilted at an upward pitch angle 222, in accordance with anembodiment of the present disclosure. In practice, the track assembly 12may be urged into the upward pitch angle 222 due to uneven terrain of afield traveled on by the agricultural implement. It should be noted thatthe left and right track assemblies 12 may be configured to beindependently positioned at different pitch angles. Enabling the leftand right track assemblies 12 to tilt upward and downward about thegenerally horizontal pitch axis 102 may result in increased surfacecontact and increased load distribution of the left and track assemblies12 with the terrain traveled upon by the agricultural implement.

As previously mentioned, in some embodiments, the actuators includeelectrical actuators, such as electrical linear actuators, electricalrotary actuators, and the like. FIG. 10 is a block diagram of a controlsystem 230 of the agricultural implement 10 configured to operateelectrical actuators 232 of the track assembly 12, in accordance with anembodiment of the present disclosure. The control system 230 includes acontroller 234, which may be a component of the agricultural implement10.

The controller 234 may include a computer system having one or moreprocessors 236 (e.g., one or more microprocessors) that may executesoftware programs to control operation of the electrical actuators 232(e.g., using sensor inputs and/or instructions from human operators).Moreover, the processor(s) 236 may include multiple microprocessors, oneor more “general-purpose” microprocessors, one or more special-purposemicroprocessors, and/or one or more application specific integratedcircuits (ASICS), or some combination thereof. For example, theprocessor(s) 236 may include one or more reduced instruction set (RISC)processors. The controller 234 may include or may couple to one or morememory devices 238 that may store information, such as control software,look up tables, configuration data, etc. In some embodiments, theprocessor(s) 236 and/or the memory device(s) 238 may be external to thecontroller 234. The memory device(s) 238 may include a tangible,non-transitory, machine-readable-medium, such as a volatile memory(e.g., a random access memory (RAM)) and/or a nonvolatile memory (e.g.,a read-only memory (ROM), flash memory, a hard drive, or any othersuitable optical, magnetic, or solid-state storage medium, or acombination thereof). The memory device(s) 238 may store a variety ofinformation and may be used for various purposes. For example, thememory device(s) 238 may store machine-readable and/orprocessor-executable instructions (e.g., firmware or software) for theprocessor(s) 236 to execute, such as instructions for controlling theelectrical actuators 232.

The controller 234 is communicatively coupled to and configured tooutput instructions to the electrical actuators 232. In the illustratedembodiment, each electrical actuator 232 includes a motor 240 that isconfigured to drive (e.g., extend and retract, rotate, translate, andthe like) a respective rod 123 of a respective electrical actuator 232.In this manner, the controller 234 may steer the agricultural implement10 by sending one or more instructions to the motors 240 to drive therespective rod 123 to move, rotate, translate, and the like, arespective track assembly 12. The motors 240 may be electrical linearmotors, electrical rotary motors, electrical solenoid motors, and thelike. Each electrical actuator 232 may also include a sensor 242 thatmay output a signal indicative of a position information of therespective motor 240 and/or the respective rod 123. The sensors 242 mayprovide the position signal to the controller 234. In this manner, thecontroller 234 may control the motors 240 based on the position signalfrom the sensor 242.

The control system 230 may also include a user interface 244 thatenables an operator of the agricultural implement 10 to provideinstructions to and receive information from the controller 234. Theuser interface 244 may include any suitable components that enable theoperator to provide instructions and/or or receive information, such asdisplay(s), touchscreen(s), steering wheel(s), button(s), dial(s),lever(s), pedal(s), keyboard(s), and the like. For example, an operatormay steer about a generally vertical axis (e.g., about a generallyvertical steering axis) by controlling the electrical actuators 232using the user interface 244.

While only certain features of the invention have been illustrated anddescribed herein, many modifications and changes will occur to thoseskilled in the art. It is, therefore, to be understood that the appendedclaims are intended to cover all such modifications and changes as fallwithin the true spirit of the invention.

The techniques presented and claimed herein are referenced and appliedto material objects and concrete examples of a practical nature thatdemonstrably improve the present technical field and, as such, are notabstract, intangible or purely theoretical. Further, if any claimsappended to the end of this specification contain one or more elementsdesignated as “means for [perform]ing [a function] . . . ” or “step for[perform]ing [a function] . . . ”, it is intended that such elements areto be interpreted under 35 U.S.C. 112(f). However, for any claimscontaining elements designated in any other manner, it is intended thatsuch elements are not to be interpreted under 35 U.S.C. 112(f).

The invention claimed is:
 1. A work vehicle comprising: left and righttrack assemblies, each track assembly comprising a respective mainframe, a respective pivot member, a respective pivot shaft coupled tothe respective pivot member, and a respective electrical actuatorcoupled between the respective pivot shaft and the respective mainframe; and a control system, comprising a controller communicativelycoupled to each respective electrical actuator of the left and righttrack assemblies, wherein the controller comprises one or moreprocessors configured to control the respective electrical actuator tosteer the work vehicle about a generally vertical steering axis;wherein: each respective pivot member is mounted to the respective mainframe of the left and right track assemblies; each track assembly of theleft and right track assemblies is pivotal about a generally horizontalpitch axis of the respective pivot shaft to permit pitch movement of thetrack assembly; and each track assembly is pivotal about a generallyhorizontal camber axis through a portion of the respective pivot memberto permit camber movement of the track assembly.
 2. The work vehicle ofclaim 1, wherein each respective electrical actuator comprises arespective motor configured to drive a respective rod of the respectiveelectrical actuator.
 3. The work vehicle of claim 2, wherein the one ormore processors are configured to control each respective electricalactuator to steer the work vehicle by sending one or more instructionsto the respective motor of the respective electrical actuator.
 4. Thework vehicle of claim 1, wherein each respective electrical actuatorcomprises a respective sensor configured to output a respective signalindicative of a respective position of a respective rod of therespective electrical actuator.
 5. The work vehicle of claim 4, whereinthe one or more processors are configured to control the respectiveelectrical actuator based at least in part on the respective signal. 6.The work vehicle of claim 1, wherein each respective electrical actuatoris an electrical linear actuator or an electrical rotary actuator. 7.The work vehicle of claim 1, wherein the control system comprises a userinterface communicatively coupled to the controller and configured tooutput instructions to the controller.
 8. The work vehicle of claim 7,wherein the one or more processors are configured to control eachrespective electrical actuator based at least in part on theinstructions.
 9. A control system of a work vehicle comprising: acontroller communicatively coupled to each respective electricalactuator of left and right track assemblies of the work vehicle,wherein: the controller comprises one or more processors configured tocontrol the respective electrical actuator; the respective electricalactuator is configured to drive a respective rod of the respectiveelectrical actuator to steer the work vehicle about a generally verticalsteering axis; the work vehicle comprises the left and right trackassemblies, each track assembly of the left and right track assembliescomprising a respective main frame, a respective pivot member, arespective pivot shaft coupled to the respective pivot member, and therespective electrical actuator coupled between the respective pivotshaft and the respective main frame; the respective pivot member ismounted to the respective main frame; each track assembly is pivotalabout a generally horizontal pitch axis of the respective pivot shaft topermit pitch movement of the track assembly; and each track assembly ispivotal about a generally horizontal camber axis through a portion ofthe respective pivot member to permit camber movement of the trackassembly.
 10. The control system of claim 9, wherein each respectiveelectrical actuator comprises a respective motor coupled to therespective rod, wherein the respective electrical actuator is configuredto drive the respective rod.
 11. The control system of claim 10, whereinthe one or more processors are configured to control each respectiveelectrical actuator to steer the work vehicle by sending one or moreinstructions to the respective motor of the respective electricalactuator.
 12. The control system of claim 9, wherein each respectiveelectrical actuator comprises a respective sensor configured to output arespective signal indicative of a respective position of the respectiverod.
 13. The control system of claim 12, wherein the one or moreprocessors are configured to control each respective electrical actuatorbased at least in part on the respective signal.
 14. The control systemof claim 9, comprising a user interface coupled to the controllerconfigured to send instructions to the controller.
 15. The controlsystem of claim 14, wherein the one or more processors are configured tocontrol each respective electrical actuator based at least in part onthe instructions.
 16. A controller coupled to each respective electricalactuator of left and right track assemblies of a work vehicle that areeach pivotal about a respective horizontal pitch axis of a respectivepivot shaft to permit pitch movement and pivotal about a respectivehorizontal camber axis through a portion of a respective pivot member topermit camber movement, comprising: one or more processors configured tocontrol a respective motor of the respective electrical actuator coupledbetween the respective pivot shaft and a respective main frame of theleft and right track assemblies to steer the work vehicle about agenerally vertical steering axis by drive a respective rod of therespective electrical actuator.
 17. The controller of claim 16, whereinthe one or more processors are configured to control the respectiveelectrical actuator to steer the work vehicle by sending one or moreinstructions to the respective motor.
 18. The controller of claim 16,wherein the respective electrical actuator comprises a respective sensorconfigured to output a respective signal indicative of a respectiveposition of the respective rod.
 19. The controller of claim 18, whereinthe one or more processors are configured to control each respectiveelectrical actuator based at least in part on the respective signal. 20.The controller of claim 16, wherein the respective motor is anelectrical linear motor, an electrical rotary motor, or an electricalsolenoid motor.